<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.12"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Os1: /home/alejandro/Desarrollo eclipse/os1/Thirdparty/DBoW2/DBoW2/FORB.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<script type="text/javascript">
  $(document).ready(initResizable);
</script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Os1
   &#160;<span id="projectnumber">1</span>
   </div>
   <div id="projectbrief">OrbSlam2 documentado y modificado</div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.12 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
$(function() {
  initMenu('',true,'Search');
  $(document).ready(function() { init_search(); });
});
</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
$(document).ready(function(){initNavTree('_f_o_r_b_8h_source.html','');});
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">FORB.h</div>  </div>
</div><!--header-->
<div class="contents">
<a href="_f_o_r_b_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#ifndef __D_T_F_ORB__</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#define __D_T_F_ORB__</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;opencv2/core/core.hpp&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_f_class_8h.html">FClass.h</a>&quot;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespace_d_bo_w2.html">DBoW2</a> {</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="class_d_bo_w2_1_1_f_o_r_b.html">   22</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_d_bo_w2_1_1_f_o_r_b.html">FORB</a>: <span class="keyword">protected</span> <a class="code" href="class_d_bo_w2_1_1_f_class.html">FClass</a></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;{</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="class_d_bo_w2_1_1_f_o_r_b.html#aef9b966d0293836fab9f55f1799ce0ed">   27</a></span>&#160;  <span class="keyword">typedef</span> cv::Mat <a class="code" href="class_d_bo_w2_1_1_f_o_r_b.html#aef9b966d0293836fab9f55f1799ce0ed">TDescriptor</a>; <span class="comment">// CV_8U</span></div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="class_d_bo_w2_1_1_f_o_r_b.html#ab52a6568044027cf30c8ac1514fed1a6">   29</a></span>&#160;<span class="comment"></span>  <span class="keyword">typedef</span> <span class="keyword">const</span> TDescriptor *<a class="code" href="class_d_bo_w2_1_1_f_o_r_b.html#ab52a6568044027cf30c8ac1514fed1a6">pDescriptor</a>;</div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="class_d_bo_w2_1_1_f_o_r_b.html#ad6ed07af4e042effc3c0b169aa5bdd1a">   31</a></span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="class_d_bo_w2_1_1_f_o_r_b.html#ad6ed07af4e042effc3c0b169aa5bdd1a">L</a>;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_d_bo_w2_1_1_f_o_r_b.html#a9d78adf3c5c6fe8f2e8668e247acf5cc">meanValue</a>(<span class="keyword">const</span> std::vector&lt;pDescriptor&gt; &amp;descriptors,</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    TDescriptor &amp;mean);</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">int</span> <a class="code" href="class_d_bo_w2_1_1_f_o_r_b.html#ac166ab6808abc7c385dbaabfacfed38c">distance</a>(<span class="keyword">const</span> TDescriptor &amp;a, <span class="keyword">const</span> TDescriptor &amp;b);</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keyword">static</span> std::string <a class="code" href="class_d_bo_w2_1_1_f_o_r_b.html#a3c0ce0fd04ecd52b25b97d253fb922ea">toString</a>(<span class="keyword">const</span> TDescriptor &amp;a);</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_d_bo_w2_1_1_f_o_r_b.html#a4023e7775d0691b44f6708f865b6b8d7">fromString</a>(TDescriptor &amp;a, <span class="keyword">const</span> std::string &amp;s);</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_d_bo_w2_1_1_f_o_r_b.html#afa1b3415e0289849d56bffd0205be4d8">fromArray</a>(TDescriptor &amp;a, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* p);</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_d_bo_w2_1_1_f_o_r_b.html#a67b90eaed01dd54e380237c78886635f">toMat32F</a>(<span class="keyword">const</span> std::vector&lt;TDescriptor&gt; &amp;descriptors,</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    cv::Mat &amp;mat);</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_d_bo_w2_1_1_f_o_r_b.html#af0a9e2ea44336f2975a7f3324777330c">toMat8U</a>(<span class="keyword">const</span> std::vector&lt;TDescriptor&gt; &amp;descriptors,</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    cv::Mat &amp;mat);</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;};</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;} <span class="comment">// namespace DBoW2</span></div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="ttc" id="class_d_bo_w2_1_1_f_o_r_b_html_ad6ed07af4e042effc3c0b169aa5bdd1a"><div class="ttname"><a href="class_d_bo_w2_1_1_f_o_r_b.html#ad6ed07af4e042effc3c0b169aa5bdd1a">DBoW2::FORB::L</a></div><div class="ttdeci">static const int L</div><div class="ttdoc">Descriptor length (in bytes) </div><div class="ttdef"><b>Definition:</b> FORB.h:31</div></div>
<div class="ttc" id="class_d_bo_w2_1_1_f_o_r_b_html_a3c0ce0fd04ecd52b25b97d253fb922ea"><div class="ttname"><a href="class_d_bo_w2_1_1_f_o_r_b.html#a3c0ce0fd04ecd52b25b97d253fb922ea">DBoW2::FORB::toString</a></div><div class="ttdeci">static std::string toString(const TDescriptor &amp;a)</div><div class="ttdoc">Returns a string version of the descriptor. </div><div class="ttdef"><b>Definition:</b> FORB.cpp:105</div></div>
<div class="ttc" id="class_d_bo_w2_1_1_f_class_html"><div class="ttname"><a href="class_d_bo_w2_1_1_f_class.html">DBoW2::FClass</a></div><div class="ttdoc">Generic class to encapsulate functions to manage descriptors. </div><div class="ttdef"><b>Definition:</b> FClass.h:25</div></div>
<div class="ttc" id="class_d_bo_w2_1_1_f_o_r_b_html_a9d78adf3c5c6fe8f2e8668e247acf5cc"><div class="ttname"><a href="class_d_bo_w2_1_1_f_o_r_b.html#a9d78adf3c5c6fe8f2e8668e247acf5cc">DBoW2::FORB::meanValue</a></div><div class="ttdeci">static void meanValue(const std::vector&lt; pDescriptor &gt; &amp;descriptors, TDescriptor &amp;mean)</div><div class="ttdoc">Calculates the mean value of a set of descriptors. </div><div class="ttdef"><b>Definition:</b> FORB.cpp:28</div></div>
<div class="ttc" id="_f_class_8h_html"><div class="ttname"><a href="_f_class_8h.html">FClass.h</a></div></div>
<div class="ttc" id="class_d_bo_w2_1_1_f_o_r_b_html_af0a9e2ea44336f2975a7f3324777330c"><div class="ttname"><a href="class_d_bo_w2_1_1_f_o_r_b.html#af0a9e2ea44336f2975a7f3324777330c">DBoW2::FORB::toMat8U</a></div><div class="ttdeci">static void toMat8U(const std::vector&lt; TDescriptor &gt; &amp;descriptors, cv::Mat &amp;mat)</div><div class="ttdef"><b>Definition:</b> FORB.cpp:184</div></div>
<div class="ttc" id="class_d_bo_w2_1_1_f_o_r_b_html_aef9b966d0293836fab9f55f1799ce0ed"><div class="ttname"><a href="class_d_bo_w2_1_1_f_o_r_b.html#aef9b966d0293836fab9f55f1799ce0ed">DBoW2::FORB::TDescriptor</a></div><div class="ttdeci">cv::Mat TDescriptor</div><div class="ttdoc">Descriptor type. </div><div class="ttdef"><b>Definition:</b> FORB.h:27</div></div>
<div class="ttc" id="class_d_bo_w2_1_1_f_o_r_b_html_a4023e7775d0691b44f6708f865b6b8d7"><div class="ttname"><a href="class_d_bo_w2_1_1_f_o_r_b.html#a4023e7775d0691b44f6708f865b6b8d7">DBoW2::FORB::fromString</a></div><div class="ttdeci">static void fromString(TDescriptor &amp;a, const std::string &amp;s)</div><div class="ttdoc">Returns a descriptor from a string. </div><div class="ttdef"><b>Definition:</b> FORB.cpp:120</div></div>
<div class="ttc" id="class_d_bo_w2_1_1_f_o_r_b_html_ab52a6568044027cf30c8ac1514fed1a6"><div class="ttname"><a href="class_d_bo_w2_1_1_f_o_r_b.html#ab52a6568044027cf30c8ac1514fed1a6">DBoW2::FORB::pDescriptor</a></div><div class="ttdeci">const TDescriptor * pDescriptor</div><div class="ttdoc">Pointer to a single descriptor. </div><div class="ttdef"><b>Definition:</b> FORB.h:29</div></div>
<div class="ttc" id="class_d_bo_w2_1_1_f_o_r_b_html_afa1b3415e0289849d56bffd0205be4d8"><div class="ttname"><a href="class_d_bo_w2_1_1_f_o_r_b.html#afa1b3415e0289849d56bffd0205be4d8">DBoW2::FORB::fromArray</a></div><div class="ttdeci">static void fromArray(TDescriptor &amp;a, unsigned char *p)</div><div class="ttdoc">Devuelve un descriptor a partir de sus datos binarios en un array. </div><div class="ttdef"><b>Definition:</b> FORB.cpp:139</div></div>
<div class="ttc" id="class_d_bo_w2_1_1_f_o_r_b_html"><div class="ttname"><a href="class_d_bo_w2_1_1_f_o_r_b.html">DBoW2::FORB</a></div><div class="ttdoc">Functions to manipulate ORB descriptors. </div><div class="ttdef"><b>Definition:</b> FORB.h:22</div></div>
<div class="ttc" id="class_d_bo_w2_1_1_f_o_r_b_html_ac166ab6808abc7c385dbaabfacfed38c"><div class="ttname"><a href="class_d_bo_w2_1_1_f_o_r_b.html#ac166ab6808abc7c385dbaabfacfed38c">DBoW2::FORB::distance</a></div><div class="ttdeci">static int distance(const TDescriptor &amp;a, const TDescriptor &amp;b)</div><div class="ttdoc">Calculates the distance between two descriptors. </div><div class="ttdef"><b>Definition:</b> FORB.cpp:81</div></div>
<div class="ttc" id="class_d_bo_w2_1_1_f_o_r_b_html_a67b90eaed01dd54e380237c78886635f"><div class="ttname"><a href="class_d_bo_w2_1_1_f_o_r_b.html#a67b90eaed01dd54e380237c78886635f">DBoW2::FORB::toMat32F</a></div><div class="ttdeci">static void toMat32F(const std::vector&lt; TDescriptor &gt; &amp;descriptors, cv::Mat &amp;mat)</div><div class="ttdoc">Returns a mat with the descriptors in float format. </div><div class="ttdef"><b>Definition:</b> FORB.cpp:149</div></div>
<div class="ttc" id="namespace_d_bo_w2_html"><div class="ttname"><a href="namespace_d_bo_w2.html">DBoW2</a></div><div class="ttdoc">File: BowVector.cpp Date: March 2011 Author: Dorian Galvez-Lopez Description: bag of words vector Lic...</div><div class="ttdef"><b>Definition:</b> BowVector.cpp:18</div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_08235c883c2d11e586a63e6645937db5.html">Thirdparty</a></li><li class="navelem"><a class="el" href="dir_d1a1b6b9a428c17d660585cf3877a970.html">DBoW2</a></li><li class="navelem"><a class="el" href="dir_004f071c35dfaac2458bd63a15bbc95f.html">DBoW2</a></li><li class="navelem"><a class="el" href="_f_o_r_b_8h.html">FORB.h</a></li>
    <li class="footer">Generated by
    <a href="http://www.doxygen.org/index.html">
    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.12 </li>
  </ul>
</div>
</body>
</html>
